The invention discloses a parameter estimation and tracking control method based on a turntable servo system, and belongs to the technical field of parameter identification and electromechanical control. The method comprises analyzing the turntable servo system containing unknown parameters, establishing a mathematical model of the turntable servo system containing unknown parameters according to a mechanism modeling method; updating an adaptive rate by a filtering theory, introducing a performance index function with a forgetting factor, and designing a variable-gain adaptive rate to achieve optimal adaptive parameter estimation by optimizing the performance index function; and achieving position tracking control by using the controller of a sliding-mode control design system using a super-twisting algorithm. The method can achieve the parameter estimation and tracking control of a system and has advantages of (1) reducing a system parameter estimation overshoot and accelerating the convergence of parameter estimation; (2) ensuring that a tracking error converges to zero within finite time; being not required to obtain the derivative information of a sliding-mode variable or not requiring a continuous control law of the sliding mode; eliminating chattering and improving the robustness of the controller.